Start Date
19-5-2023 11:20 AM
End Date
19-5-2023 11:40 AM
Document Type
Full Paper
Keywords
Wolf Packs, Computer Vision, Webots, Robots
Description
Studies involving the group predator behavior of wolves have inspired multiple robotic architectures to mimic these biological behaviors in their designs and research. In this work, we aim to use robotic systems to mimic wolf packs' single and group behavior. This work aims to extend the original research by Weitzenfeld et al [7] and evaluate under a new multi-robot robot system architecture. The multiple robot architecture includes a 'Prey' pursued by a wolf pack consisting of an 'Alpha' and 'Beta' robotic group. The Alpha Wolf' will be the group leader, searching and tracking the 'Prey.' At the same time, the multiple Beta 'Wolves' will follow behind the Alpha, tracking and maintaining a set distance in the formation. The robotic systems used are multiple raspberry pi-robots designed in the USF bio-robotics lab that use a combination of color cameras and distance sensors to assist the Beta 'Wolves' in keeping a set distance between the Alpha "Wolf" and themselves. Several experiments were performed in simulation, using Webots, and with physical robots. An analysis was done comparing the performance of the physical robot in the real world to the virtual robot in the simulated environment.
DOI
https://doi.org/10.5038/YCJK4503
Included in
Biologically Inspired Multi-Robot System based on Wolf Hunting Behavior
Studies involving the group predator behavior of wolves have inspired multiple robotic architectures to mimic these biological behaviors in their designs and research. In this work, we aim to use robotic systems to mimic wolf packs' single and group behavior. This work aims to extend the original research by Weitzenfeld et al [7] and evaluate under a new multi-robot robot system architecture. The multiple robot architecture includes a 'Prey' pursued by a wolf pack consisting of an 'Alpha' and 'Beta' robotic group. The Alpha Wolf' will be the group leader, searching and tracking the 'Prey.' At the same time, the multiple Beta 'Wolves' will follow behind the Alpha, tracking and maintaining a set distance in the formation. The robotic systems used are multiple raspberry pi-robots designed in the USF bio-robotics lab that use a combination of color cameras and distance sensors to assist the Beta 'Wolves' in keeping a set distance between the Alpha "Wolf" and themselves. Several experiments were performed in simulation, using Webots, and with physical robots. An analysis was done comparing the performance of the physical robot in the real world to the virtual robot in the simulated environment.